version: 66.01
glider: 112
mission: 2
dive: 78
start: 8 18 107 12 58 20
data:
$ID,112
$MISSION,2
$DIVE,78
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51558
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.015
$HD_C,5.5e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-24796.324
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.200001
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,75
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,168
$ROLL_MAX,3823
$C_ROLL_DIVE,2156
$C_ROLL_CLIMB,2417
$HEAD_ERRBAND,9
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,486
$VBD_MAX,3897
$C_VBD,2664
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,75
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,80
$PRESSURE_YINT,-2.7642801
$PRESSURE_SLOPE,9.129227e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,49
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,0
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043712994
$SEABIRD_T_H,0.00064806995
$SEABIRD_T_I,2.9318924e-05
$SEABIRD_T_J,3.4945006e-06
$SEABIRD_C_G,-10.125542
$SEABIRD_C_H,1.1422628
$SEABIRD_C_I,-0.00066794927
$SEABIRD_C_J,0.00014236888
$GPS1,125309,4806.854,-12222.882,8,1.7,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-50.3
$GPS2,125757,4806.845,-12222.887,14,1.6,14,18.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.121,-0.181
$KALMAN_X,-388.0,-274.5,-103.5,1777.5,-64.7
$KALMAN_Y,4697.1,464.7,11.9,-7433.8,82.3
$MHEAD_RNG_PITCHd_Wd,308.9,2543,-21.9,-10.000
$D_GRID,103
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.23,-146.6,0.0,0.0,0,57,0.00,0.00,-29.45,0.000,2,0.000,0.000,678,2140,2041
$GC,60,-1.23,-146.6,3.2,-3.3,6,122,14.12,2.85,-40.65,0.000,4,0.285,0.070,2066,748,3262
$GC,135,-1.00,-146.6,8.0,-13.0,20,141,0.38,2.72,0.00,0.000,6,0.191,0.035,2115,2157,3263
$GC,210,-0.97,-146.6,18.8,-10.9,33,215,0.00,2.92,0.00,0.000,4,0.000,0.067,2115,750,3264
$GC,469,-0.93,-146.6,44.1,-10.3,58,474,0.12,2.80,0.00,0.000,6,0.162,0.037,2130,2197,3266
$GC,667,-0.93,-146.6,62.6,-9.3,76,671,0.00,2.95,0.00,0.000,4,0.000,0.063,2131,751,3266
$GC,924,-0.93,-146.6,88.2,-9.8,98,929,0.00,2.78,0.00,0.000,6,0.000,0.038,2131,2191,3266
$STATE,1098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1098,begin apogee
$GC,1106,-0.23,0.0,103.6,8.4,115,1234,0.93,0.00,123.68,0.689,6,0.132,0.000,2285,2419,2664
$STATE,1235,end apogee,CONTROL_FINISHED_OK
$STATE,1235,begin climb
$GC,1239,1.23,146.6,106.5,0.0,128,1372,1.75,3.42,123.05,0.670,4,0.087,0.121,2606,3816,2065
$GC,1398,1.08,146.6,87.7,17.5,143,1404,0.20,2.83,0.00,0.000,6,0.137,0.038,2578,2417,2064
$GC,1723,1.01,146.6,43.3,12.8,173,1727,0.00,3.05,0.00,0.000,4,0.000,0.084,2578,3813,2064
$GC,1778,0.91,146.6,35.4,14.3,177,1785,0.25,2.72,0.00,0.000,6,0.126,0.038,2541,2425,2063
$GC,1981,0.93,146.6,14.0,10.4,201,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2425,2063
$GC,2055,1.15,224.8,7.7,6.4,214,2126,0.22,3.08,63.03,0.648,4,0.046,0.080,2593,3818,1746
$GC,2158,1.37,346.1,2.6,4.5,233,2175,0.22,2.75,11.05,0.637,2,0.049,0.035,2641,2423,1652
$STATE,2176,end climb,SURFACE_DEPTH_REACHED
$STATE,2176,begin surface coast
$FINISH,1.6,1.019343
$STATE,2186,end surface coast,CONTROL_FINISHED_OK
$STATE,2186,begin surface
$SM_CCo,2208,60.78,0.607,0,0,1237,350.04
$SM_GC,2.82,0.00,0.00,60.78,0.000,0.000,0.607,678,2147,1237,-7.64,-0.25,350.04
$RAFOS_CLK,91
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12219.12,180807,161600
$TT8_MAMPS,0.024544
$HUMID,2066
$INTERNAL_PRESSURE,11.3286
$TCM_TEMP,11.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,20.9,31.537
$10V_AH,10.0,10.627
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,28.275,35.900,320.800,60.775,0.000,38.140,51.608,91.005,0.250,15.973,408.574,1116.239,462.673,285.220,301.833,0.000,722.280,0.000,278.985,0.000,2.557
$DEVICE_MAMPS,285.324,121.186,688.766,607.464,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,165.414,166.992,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6463,238
$CFSIZE,260165632,253644800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$SOUNDSPEED,1488.7
$GPS,180807,133723,4806.930,-12223.102,9,8.1,28,18.3